Isaac-sim + franka + stable_baselines3 tutorials

Hi,

I am trying to create a scene with a Franka robot/prim, plus a block, and try to run an agent (PPO agent) via the stable_baselines3 library (or even sklr). I am trying to do this through isaac-sim and not orbit, nor isaac-gym (unless isaac-gym is better). The idea is to also attach a camera looking down on the setup, or transformed to the end_effector and use the camera RGBs as observations. I am having trouble finding tutorials or examples in order to stitch this up, properly. I have bits and pieces. The PPO agent expects a gym env, which the SimulationContext is not. I would appreciate any sort of resource on this.

Cheers

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